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We have been studying stacked-type electrostatic actuators, which are constructed by folding two ribbon electrodes in an alternate configuration, in view of using them as artificial muscles in robots. However, the energy efficiency characteristics were not clear. Investigation of these characteristics is important for the improvement of the energy efficiency of actuators. In this study, we performed a simulation of the energy efficiency by numerical analysis, using a simplified model of the stacked-type electrostatic actuator, and then investigated the energy efficiency characteristics. The results show that the maximum energy efficiency value was about 50%. We also obtained data on the other energy efficiency characteristics.